JP2011519678A - カテーテルシステム - Google Patents
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- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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Abstract
Description
Claims (64)
- ベース部に連結するように構成したロボットカテーテルシステムに使用するカセットであって、
筐体と、
前記筐体に支持され、ガイドワイヤと釈放可能に係合し、また前記ガイドワイヤの長手方向軸に沿って前記ガイドワイヤを駆動するよう構成した第1軸駆動機構と、
前記筐体に支持され、作動カテーテルと釈放可能に係合し、また前記作動カテーテルの長手方向軸に沿って前記作動カテーテルを駆動する第2軸駆動機構と、
前記筐体に支持され、前記ガイドワイヤの長手方向軸線の周りに前記ガイドワイヤを回転するように構成した回転駆動機構であり、ガイドワイヤと釈放可能に係合する係合構造体を有し、前記係合構造体は、ガイドワイヤが前記第1軸駆動機構により軸方向に移動するとともにガイドワイヤの長手方向軸線の周りにガイドワイヤが回転するのに十分な力を加えるよう構成した、該回転駆動機構と
を備えた、該カセットにおいて、
前記第1軸駆動機構、前記第2軸駆動機構、および前記回転駆動機構は、少なくとも1つのアクチュエータと作動可能に連結し、前記アクチュエータは、前記ガイドワイヤを駆動し、前記作動カテーテルを駆動し、また前記ガイドワイヤを回転するためのエネルギーを供給するよう構成した、ことを特徴とするカセット。 - 請求項1に記載のカセットにおいて、さらに、
前記回転駆動機構に重なり合う閉位置から前記回転駆動機構を露出させる開位置に移動可能な第1のカバーと、
前記第1カバーが前記閉位置にあるとき、前記ガイドワイヤの移動を拘束するよう作用する拘束構造体と、
を備えた、カセット。 - 請求項2に記載のカセットにおいて、前記拘束構造体は、前記第1カバーから突出する少なくとも1つのタブを有する構成とした、カセット。
- 請求項3に記載のカセットにおいて、さらに、
前記第1軸駆動機構に重なり合う閉位置から前記第1軸駆動機構を露出させる開位置に移動可能な第2カバーであり、前記第2のカバーから突出する少なくとも1つのタブを有する、該第2のカバー
を備え、
前記回転駆動機構は、側壁付きの第1チャンネルを有し、また前記第1軸駆動機構は、側壁付きの第2チャネルを有し、
前記チャンネルの側壁は、第1の方向へのガイドワイヤの動きを拘束し、
前記第1カバーおよび前記第2カバーが閉位置にあるとき、前記第1カバーの少なくとも1つのタブ、および前記第2カバーの少なくとも1つのタブが、第2の方向へのガイドワイヤの動きを拘束する構成とした、カセット。 - 請求項4に記載のカセットにおいて、前記第1カバーを開く際に、前記回転駆動機構は、自動的に回転し、前記ガイドワイヤを容易に装填および取り外しできるように第1チャンネルを位置決めする構成とした、カセット。
- 請求項4に記載のカセットにおいて、さらに、前記第1チャンネルまたは前記第2チャンネルのうち少なくとも一方の下方に配置した少なくとも1つの磁石を備え、
前記磁石は、前記ガイドワイヤに作用し、前記第1チャンネルまたは前記第2チャンネルのうち少なくとも一方の内部にガイドワイヤを保持する構成とした、カセット。 - 請求項1に記載のカセットにおいて、前記回転駆動機構の前記係合構造体は、前記ガイドワイヤを釈放可能に係合するよう第1係合表面および第2係合表面を有し、
ガイドワイヤの長手方向軸線の周りにガイドワイヤを回転させるとともに、ガイドワイヤを前記第1軸駆動機構により軸方向に移動するのに十分な力を、第1係合表面および第2係合表面が加える構成とした、カセット。 - 請求項7に記載のカセットにおいて、前記回転駆動機構の係合構造体は、第1支持カラーおよび第2支持カラーによって支持し、
前記第1支持カラーおよび第2支持カラーは、それぞれスロットを有し、
前記第1係合表面および前記第2係合表面は、前記第1支持カラーおよび第2支持カラー双方のスロットに整列する通路を画定する構成とした、カセット。 - 請求項1に記載のカセットにおいて、前記第1軸駆動機構は、前記ガイドワイヤに釈放可能に係合する1対の第1係合表面対を有し、
前記第1係合表面対は、前記第1係合表面対と前記ガイドワイヤとの間の係合により、前記ガイドワイヤに対して軸方向の運動を与え、
前記第2軸駆動機構は、前記作動カテーテルに釈放可能に係合する第2係合表面対を有し、
前記第2軸駆動機構は、前記第2係合表面対と前記作動カテーテルとの間の係合により、前記作動カテーテルに対して軸方向の運動を与える構成とした、カセット。 - 請求項9に記載のカセットにおいて、さらに、前記第1軸駆動機構および前記第2軸駆動機構に重なり合う閉位置から前記第1軸駆動機構および前記第2軸駆動機構を露出させる開位置に移動可能なカバーを備え、
前記カバーが開く際、前記第1係合表面対が前記ガイドワイヤから離脱し、また前記第2係合表面対が前記作動カテーテルから離脱する構成とした、カセット。 - 請求項1に記載のカセットにおいて、前記第1軸駆動機構は、前記ガイドワイヤを保持する第1チャンネルを有し、前記第2軸駆動機構は、前記作動カテーテルを保持する、第2チャンネルを有し、前記第1チャンネルおよび前記第2チャンネルは、互いに角度をなして配置される構成とした、カセット。
- 請求項11に記載のカセットにおいて、前記筐体は凹部を備え、また前記第2チャンネルは、前記凹部内に開口部を有する構成とした、カセット。
- 請求項1に記載のカセットにおいて、さらに、
前記ガイドワイヤの軸方向の動きに関する特性を測定するように構成した少なくとも第1センサと、
前記作動カテーテルの軸方向の動きに関する特性を測定するように構成した少なくとも第2センサと
を、備えた、カセット。 - 請求項1に記載のカセットにおいて、さらに、
Yコネクタを支持するYコネクタ支持アッセンブリを備え、
前記Yコネクタ支持アッセンブリは、前記第1軸駆動機構の長手方向軸線に対して角度をなす位置に移動可能であり、これにより、前記ガイドワイヤおよび作動カテーテルを前記Yコネクタに容易に装填可能とした、カセット。 - 請求項1に記載のカセットにおいて、前記カセットは、使い捨てカセットとし、第2の処置にカセットを機能的に使用できないようにするための使用制限要素を有する構成とした、カセット。
- 請求項1に記載のカセットにおいて、さらに、
ガイドカテーテルを支持するよう構成したガイドカテーテルサポートを備え、
前記ガイドカテーテルサポートは、前記カセットから突出して、前記カセットから離間した位置で前記ガイドカテーテルを支持する構成とした、カセット。 - 請求項1に記載のカセットにおいて、前記少なくとも1つのアクチュエータを、前記カセットの外部に配置した、カセット。
- 請求項1に記載のカセットにおいて、前記少なくとも1つのアクチュエータを、前記カセットの筐体内に配置した、カセット。
- 請求項1に記載のカセットにおいて、さらに、前記作動カテーテルの操作中に前記ガイドワイヤの位置を固定し、また前記ガイドワイヤの操作中に前記作動カテーテルの位置を固定するロッキング機構を備えた、カセット。
- 請求項1に記載のカセットにおいて、さらに、
前記回転駆動機構および前記第1軸駆動機構に重なり合う閉位置から前記回転駆動機構および前記第1軸駆動機構を露出させる開位置に移動可能なカバーであり、前記第1カバーから突出する少なくとも1つのタブを有する、該カバーを備え、
前記回転駆動機構は、側壁付きの第1チャンネルを有し、また前記第1軸駆動機構は、側壁付きの第2チャンネルを有し、
前記チャンネルの側壁は、第1の方向へのガイドワイヤの移動を拘束し、さらに
前記第1カバーが閉位置にあるとき、前記第1カバーの少なくとも1つのタブが、第2の方向へのガイドワイヤの移動を拘束する構成とした、カセット。 - ロボット血管カテーテルシステムにおいて、
ユーザインターフェースと、
モータ制御部と、
モータカプラーを有するカセットベース部と、
前記モータカプラーと連結する少なくとも1つのモータと
前記カセットベース部に取り外し可能に装着し、また前記モータカプラーに作動可能に連結した、カセットと
を備え、前記カセットは、
ガイドワイヤと釈放可能に係合し、またガイドカテーテルを介して前記ガイドワイヤの長手方向軸線に沿って前記ガイドワイヤを駆動するよう構成した第1軸駆動機構と、
作動カテーテルと釈放可能に係合し、ガイドカテーテルを介して前記作動カテーテルの長手方向軸線に沿って前記作動カテーテルを駆動するよう構成した第2軸駆動機構と、および
前記ガイドワイヤと釈放可能に係合し、前記ガイドワイヤの長手方向軸線の周りに前記ガイドワイヤを回転するよう構成した第1回転駆動機構であって、前記ガイドワイヤと釈放可能に係合するよう構成した第1グリップ表面および第2グリップ表面を有し、前記第1グリップ表面および第2グリップ表面は、前記回転駆動機構の回転に際しガイドワイヤを回転させるとともに、前記第1軸駆動機構により前記ガイドワイヤの長手方向軸線に沿って独立して移動するのに十分な力をガイドワイヤに加えるよう構成した、該第1回転駆動機構と
を備える構成とした、ロボット血管カテーテルシステム。 - 請求項21に記載のシステムにおいて、さらに、前記ガイドカテーテルを支持するよう構成したガイドカテーテルサポートを備えた、システム。
- 請求項22に記載のシステムにおいて、前記ガイドカテーテルサポートは、前記ガイドカテーテルに作動可能に接続するYコネクタを固定するクランプを有する構成とした、システム。
- 請求項23に記載のシステムにおいて、前記ガイドカテーテルサポートは、カセットに装着した、システム。
- 請求項21に記載のシステムにおいて、少なくとも1つのモータを、前記カセットベース部内に配置した、システム。
- 請求項25に記載のシステムにおいて、前記モータカプラーは、それぞれに対応する駆動機構と作動可能に連結する少なくとも1つのキャプスタンを有する構成とした、システム。
- 請求項21に記載のシステムにおいて、前記第1軸駆動機構は、前記ガイドワイヤと釈放可能に係合するよう構成した1対のローラ対を有する構成とした、システム。
- 前請求項21に記載のシステムにおいて、記第2軸駆動機構は、前記作動カテーテルと釈放可能に係合するよう構成した1対のローラ対を有する構成とした、システム。
- 請求項28に記載のシステムにおいて、前記作動カテーテルは、バルーンカテーテルとした、システム。
- 請求項21に記載のシステムにおいて、さらに、
前記作動カテーテルの操作中にガイドワイヤの位置を固定し、また前記ガイドワイヤの操作中に前記作動カテーテルの位置を固定するよう構成したロッキング機構を備えた、システム。 - 請求項21に記載のシステムにおいて、前記ユーザインターフェースは、可変速度制御を行うよう構成した少なくとも1つのジョイスティック制御部を有する構成とした、システム。
- 請求項21に記載のシステムにおいて、前記ユーザインターフェースは、前記第1軸駆動機構を作動させて、前記ガイドワイヤを所定の距離だけ駆動するよう構成した少なくとも1つのジョグボタンを有する構成とした、システム。
- 請求項22に記載のシステムにおいて、前記ガイドカテーテルサポートは、カセット筐体に対して近接および離間するよう構成した伸展アームを有し、前記第1軸駆動機構および第1回転駆動機構は、前記カセット筐体内に配置した、システム。
- 請求項21に記載のシステムにおいて、さらに、造影剤注入システムを備えた、システム。
- 請求項21に記載のシステムにおいて、さらに、バルーン膨張システムを備えた、システム。
- モータ駆動ベース部に連結するよう構成したカテーテル駆動カセットにおいて、
筐体と、
前記筐体に支持し、ガイドワイヤと釈放可能に係合し、また前記ガイドワイヤの長手方向軸線に沿って前記ガイドワイヤを駆動するよう構成した第1軸駆動機構と、
前記筐体に支持し、作動カテーテルと釈放可能に係合し、また前記作動カテーテルの長手方向軸線に沿って前記作動カテーテルを駆動するよう構成した第2軸駆動機構と、および
前記ガイドワイヤの長手方向軸線の周りに前記ガイドワイヤを回転するよう構成した第1回転駆動機構であって、前記ガイドワイヤと釈放可能に係合するよう構成した回転構造体を有し、前記回転構造体は、前記回転構造体が回転する際にガイドワイヤの長手方向軸線の周りにガイドワイヤを回転させるとともに、ガイドワイヤを前記第1軸駆動機構により軸方向に移動できるようにするのに十分な力を加えるよう構成した、該第1回転駆動機構と
を備え、
前記第1および第2の軸駆動機構並びに回転駆動機構は、前記カセットの外部にあるドライブと連結可能とした、ことを特徴とするカテーテル駆動カセット。 - 請求項36に記載のカテーテル駆動カセットにおいて、前記カセットは、カセットの2回目の使用を防止する、壊れやすい構成要素を有する1回使用カセットとした、カテーテル駆動カセット。
- 請求項36に記載のカテーテル駆動カセットにおいて、前記カセットは、識別子を有する無線識別システムを有する1回使用カセットとした、カテーテル駆動カセット。
- 請求項36に記載のカテーテル駆動カセットにおいて、前記カセットは、少なくとも1つのモータを有するモータ駆動ベース部に連結するよう構成した、カテーテル駆動カセット。
- 請求項36に記載のカテーテル駆動カセットにおいて、前記第1軸駆動機構は、前記ガイドワイヤと釈放可能に係合する第1係合表面および第2係合表面を有する構成とした、カテーテル駆動カセット。
- 請求項36に記載のカテーテル駆動カセットにおいて、前記第2軸駆動機構は、前記作動カテーテルと釈放可能に係合する第1係合表面および第2係合表面を備えた、カテーテル駆動カセット。
- 請求項36に記載のカテーテル駆動カセットにおいて、前記第1軸駆動機構の長手方向軸線と前記第2軸駆動機構の長手方向軸線とを互いに角度をなして配置した、カテーテル駆動カセット。
- 請求項42に記載のカテーテル駆動カセットにおいて、前記カセットは、さらに、集合領域を有し、その集合領域の後方では、前記ガイドワイヤおよび前記作動カテーテルが同一軸線に沿って移動するよう構成した、カテーテル駆動カセット。
- 請求項36に記載のカテーテル駆動カセットにおいて、前記カセットは、さらに、少なくとも前記第1軸駆動機構および前記第1回転駆動機構を自己テストするシステムを備えた、カテーテル駆動カセット。
- 請求項36に記載のカテーテル駆動カセットにおいて、前記カセットは、さらに、前記ガイドワイヤおよび前記作動カテーテルに加わる力を測定するよう構成した力センサを備えた、カテーテル駆動カセット。
- 請求項36に記載のカテーテル駆動カセットにおいて、さらに、補助エコーダを備え、前記補助エコーダは、前記ガイドワイヤおよび前記バルーンカテーテルの動きを測定するよう構成した、カテーテル駆動カセット。
- 請求項36に記載のカテーテル駆動カセットにおいて、前記カセットは、さらに、前記第1回転駆動機構に重なり合う閉位置から前記第1回転駆動機構を露出させる開位置に移動可能なカバーを備え、
前記カバーが開く際、前記ガイドワイヤを容易に取り外すための垂直通路に整列するよう、前記回転駆動機構を自動的に位置決めするカテーテル駆動カセット。 - 請求項40に記載のカテーテル駆動カセットにおいて、前記第1軸駆動機構の係合表面を、前記係合表面が互いに近接する係合位置から、前記係合表面が前記係合位置のときより互いに離れる装填位置に移動させる機構を備えた、カテーテル駆動カセット。
- 請求項48に記載のカテーテル駆動カセットにおいて、前記回転駆動機構は、回転アッセンブリサポート内で回転可能に支持した回転アッセンブリを有し、
前記回転アッセンブリは、前記回転駆動機構の第1係合表面および第2係合表面が、前記回転アッセンブリサポート内に配置されるスロットと同一平面内の通路を形成する装填位置を有する構成とした、カテーテル駆動カセット。 - 請求項47に記載のカテーテル駆動カセットにおいて、前記カバーは、前記第1軸駆動機構とは独立して、前記ガイドワイヤを固定位置内に釈放可能に保持するよう構成したラッチを有する構成とした、カテーテル駆動カセット。
- 請求項36に記載のカテーテル駆動カセットにおいて、前記カセットは、さらに、前記筐体から調整可能な距離にガイドカテーテルの一部を支持するよう構成したガイドカテーテルサポートを備えた、カテーテル駆動カセット。
- 請求項51に記載のカテーテル駆動カセットにおいて、さらに、前記ガイドカテーテルサポートを前記ガイドカテーテルの長手方向軸線に沿う方向に移動させる駆動機構と、
前記ガイドカテーテルの長手方向軸線の周りに前記ガイドカテーテルを回転させる駆動機構と
を備えた、カテーテル駆動カセット。 - 請求項47に記載のカテーテル駆動カセットにおいて、前記筐体は、前記第1軸駆動機構とは独立して、固定位置内で前記ガイドワイヤを釈放可能に保持するよう構成したラッチを有する構成とした、カテーテル駆動カセット。
- 請求項47に記載のカテーテル駆動カセットにおいて、前記回転駆動機構は、前記ガイドカテーテルサポートと前記第1軸駆動機構との間に配置した、カテーテル駆動カセット。
- 請求項47に記載のカテーテル駆動カセットにおいて、前記第2軸駆動機構は、前記第1軸駆動機構に対して角度をなす構成とした、カテーテル駆動カセット。
- 請求項36に記載のカテーテル駆動カセットにおいて、さらに、前記作動カテーテルの長手方向軸線および前記ガイドワイヤの長手方向軸線が同軸状でない第1点から、前記作動カテーテルの長手方向軸線および前記ガイドワイヤの長手方向軸線が同軸状となる点まで、筐体内に設けた所定の通路に沿って、前記作動カテーテルを拘束するチャンネルを備えた、カテーテル駆動カセット。
- ロボット血管カテーテルシステムの作動方法であって、
カセットをモータ駆動ベース部に連結するステップと、
ガイドカテーテルをガイドカテーテルサポートに固定するステップと、
ガイドワイヤを前記ガイドカテーテル内に前進させるステップと、
作動カテーテルを、前記ガイドワイヤに沿って前記ガイドカテーテル内に前進させるステップと、
前記ガイドワイヤを前記カセット内の第1軸駆動機構内に配置するステップと、
少なくとも1対の係合面を有するよう前記カセット内に設けた回転駆動機構の内部に、前記ガイドワイヤを配置する回転駆動機構内配置ステップであって、前記ガイドワイヤを前記少なくとも1対の係合面によって釈放可能に係合するようにした、該回転駆動機構内配置ステップと、
前記作動カテーテルを前記カセット内の第2の軸駆動機構内に配置するステップと、および
前記ガイドワイヤおよび前記作動カテーテルを位置決めする位置決めステップであって、
前記ガイドワイヤをその長手方向軸線に沿って駆動し、
前記作動カテーテルをその長手方向軸線に沿って駆動し、また
前記ガイドワイヤをその長手方向軸線の周りに回転させ、前記ガイドワイヤの回転は、ガイドワイヤの軸方向移動とは独立して行うことができるようにした、該位置決めステップと
を有する、ロボット血管カテーテルシステムの作動方法。 - 請求項57に記載の方法において、さらに、プラスチックカバーを前記モータベース部上に覆うステップを有し、
前記プラスチックカバーは、前記モータ駆動ベース部から延在する複数のモータカプラーに整列する予め形成した孔を有する構成とした、方法。 - 請求項57に記載の方法において、さらに、前記プラスチックカバー上で、前記カセットを前記モータ駆動ベース部に連結するステップを有する、方法。
- 請求項59に記載の方法において、さらに、Yコネクタを、前記カセットにおける連結機構内に連結するステップを有する、方法。
- 請求項60に記載の方法において、さらに、前記カセットから前記ガイドワイヤを取り外すステップを有する、方法。
- 請求項61に記載の方法において、さらに、前記カセットから前記作動ワイヤを取り外すステップを有する、方法。
- 請求項62に記載の方法において、さらに、前記モータ駆動ベース部から前記カセットを取り外すステップを有する、方法。
- 請求項57に記載の方法において、1回目の処置が行われた後に前記カセットを破棄するステップを有する、方法。
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